U.S. patent number 8,419,629 [Application Number 13/223,874] was granted by the patent office on 2013-04-16 for encapsulated endoscope system in which endoscope moves in lumen by itself and rotation of image of region to be observed is ceased.
This patent grant is currently assigned to Olympus Corporation. The grantee listed for this patent is Hitoshi Mizuno, Hironobu Takizawa, Akio Uchiyama, Takeshi Yokoi. Invention is credited to Hitoshi Mizuno, Hironobu Takizawa, Akio Uchiyama, Takeshi Yokoi.
United States Patent |
8,419,629 |
Uchiyama , et al. |
April 16, 2013 |
Encapsulated endoscope system in which endoscope moves in lumen by
itself and rotation of image of region to be observed is ceased
Abstract
An encapsulated endoscope system in accordance with the present
invention comprises: an encapsulated endoscope that rotates to
develop a thrust; a controller that moves the encapsulated
endoscope in an intended direction of advancement; an imaging unit
incorporated in the encapsulated endoscope; and an image processing
unit that receives image data sent from the imaging unit, and
produces an image, which results from rotation of the received
image data, according to the rotational phase of the encapsulated
endoscope.
Inventors: |
Uchiyama; Akio (Saitama,
JP), Takizawa; Hironobu (Hachioji, JP),
Yokoi; Takeshi (Hino, JP), Mizuno; Hitoshi
(Koganei, JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
Uchiyama; Akio
Takizawa; Hironobu
Yokoi; Takeshi
Mizuno; Hitoshi |
Saitama
Hachioji
Hino
Koganei |
N/A
N/A
N/A
N/A |
JP
JP
JP
JP |
|
|
Assignee: |
Olympus Corporation (Tokyo,
JP)
|
Family
ID: |
29390173 |
Appl.
No.: |
13/223,874 |
Filed: |
September 1, 2011 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20110319715 A1 |
Dec 29, 2011 |
|
Related U.S. Patent Documents
|
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
|
11786790 |
Apr 12, 2007 |
8033989 |
|
|
|
11496560 |
Mar 15, 2011 |
7905827 |
|
|
|
10409329 |
Oct 17, 2006 |
7122001 |
|
|
|
Foreign Application Priority Data
|
|
|
|
|
Apr 8, 2002 [JP] |
|
|
2002-105493 |
|
Current U.S.
Class: |
600/160;
600/118 |
Current CPC
Class: |
A61B
1/00147 (20130101); A61B 34/73 (20160201); A61B
1/00158 (20130101); A61B 1/0676 (20130101); A61B
1/00045 (20130101); A61B 1/0684 (20130101); A61B
1/041 (20130101); A61B 1/04 (20130101) |
Current International
Class: |
A61B
1/06 (20060101); A61B 1/00 (20060101); A61B
1/04 (20060101) |
Field of
Search: |
;600/103,117,118,109,160 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
|
|
|
|
|
|
|
2-70099 |
|
Mar 1990 |
|
JP |
|
04-008342 |
|
Jan 1992 |
|
JP |
|
3017770 |
|
Dec 1999 |
|
JP |
|
2001-017388 |
|
Jan 2001 |
|
JP |
|
2001-179700 |
|
Jul 2001 |
|
JP |
|
2003-093328 |
|
Jul 2003 |
|
JP |
|
2003-299612 |
|
Oct 2003 |
|
JP |
|
Other References
US. Official Action mailed on Dec. 9, 2010 in corresponding U.S.
Appl. No. 11/786,790. cited by applicant .
Japanese Office Action dated Jan. 17, 2012, issued in counterpart
Japanese Patent Application No. 2008-299984. cited by
applicant.
|
Primary Examiner: Smith; Philip R
Attorney, Agent or Firm: Scully, Scott, Murphy &
Presser, P.C.
Parent Case Text
CROSS REFERENCE TO RELATED APPLICATIONS
This application is a divisional application of U.S. patent
application Ser. No. 11/786,790, filed on Apr. 12, 2007, which is a
continuation application of U.S. patent application Ser. No.
11/496,560, filed on Jul. 31, 2006 which is a continuation
application of U.S. patent application Ser. No. 10/409,329, filed
on Apr. 8, 2003, which claims the benefit of Japanese Patent
Application No. 2002-105493 filed in Japan on Apr. 8, 2002, the
contents of each of which are incorporated herein by reference.
Claims
What is claimed is:
1. A magnetically inducing device for an encapsulated endoscope
capable of moving by itself in a lumen of a body cavity and
externally transmitting picked-up image data of an interior of the
body cavity, the magnetically inducing device comprising: a
magnetically inducing section for magnetically inducing and driving
the encapsulated endoscope in a desired direction; a determining
section for determining whether or not the encapsulated endoscope
can be magnetically induced and driven to the desired direction;
and a jiggling controlling section for jiggling the encapsulated
endoscope when it is determined by the determining section that the
encapsulated endoscope cannot be magnetically induced and driven to
the desired direction, wherein the jiggling controlling section
jiggles the encapsulated endoscope by conically moving a rotation
axis of a rotating magnetic field that provides a magnetically
inducing driving force of the magnetically inducing section, the
conical movement being centered around the rotation axis.
2. The magnetically inducing device according to claim 1, wherein
the magnetically inducing section comprises a magnetic field
generating coil unit for generating a magnetically inducing driving
force, the magnetic field generating coil unit being configured by
a plurality of individually selectable coils.
3. The magnetically inducing device according to claim 2, wherein
the plurality of coils are configured and selected in pairs.
4. The magnetically inducing device according to claim 2, further
comprising a position detecting section for detecting a position of
the encapsulated endoscope, wherein the magnetically inducing
device selects the plurality of coils based on a detection result
of the position detecting section.
5. The magnetically inducing device according to claim 2, wherein
the magnetically inducing driving force is a rotating magnetic
field.
6. A magnetically inducing device for an encapsulated endoscope
capable of moving by itself in a lumen of a body cavity and
externally transmitting picked-up image data of an interior of the
body cavity, the magnetically inducing device comprising: a
magnetically inducing section for magnetically inducing and driving
the encapsulated endoscope in a desired direction; a determining
section for determining whether or not the encapsulated endoscope
can be magnetically induced and driven to the desired direction;
and a jiggling controlling section for jiggling the encapsulated
endoscope when it is determined by the determining section that the
encapsulated endoscope cannot be magnetically induced and driven to
the desired direction, wherein the determining section determines
whether or not the encapsulated endoscope can be magnetically
induced an driven to the desired direction by determining whether
or not there is a change in the picked-up image data in the
lumen.
7. A magnetically inducing device for an encapsulated endoscope
capable of moving by itself in a lumen of a body cavity and
externally transmitting picked-up image data of an interior of the
body cavity, the magnetically inducing device comprising: a
magnetically inducing section for magnetically inducing and driving
the encapsulated endoscope in a desired direction; a determining
section for determining whether or not the encapsulated endoscope
can be magnetically induced and driven to the desired direction; a
jiggling controlling section for jiggling the encapsulated
endoscope when it is determined by the determining section that the
encapsulated endoscope cannot be magnetically induced and driven to
the desired direction; and a position detecting device for
detecting a position of the encapsulated endoscope, wherein the
determining section determines whether or not the encapsulated
endoscope can be magnetically induced and driven to the desired
direction by determining whether or not there is a change in a
result of position detection by the position detecting device.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to an encapsulated endoscope system
for driving and controlling an encapsulated endoscope that moves in
a lumen by itself to image a region to be observed.
2. Description of the Related Art
For example, Japanese Unexamined Patent Application Publication No.
2001-179700 discloses a movement control system for movable
micro-machines. The movement control system comprises: a magnetic
field generating section that generates a rotating magnetic field;
a robot that rotates on receipt of the rotating magnetic field
generated by the magnetic field generating section so as to develop
a thrust; a position detecting section that detects the position of
the robot; and a magnetic field deflecting section that changes the
orientation of the rotating magnetic field generated by the
magnetic field generating section so as to move the robot in the
direction of a destination.
SUMMARY OF THE INVENTION
According to the present invention, an encapsulated endoscope
system comprises: an encapsulated endoscope that rotates to develop
a thrust; a controller that moves the encapsulated endoscope in an
intended direction of advancement; an imaging unit incorporated in
the encapsulated endoscope; and an image processing unit that
receives image data sent from the imaging section, and produces an
image, which results from turning of the received image data,
according to a rotational phase of the encapsulated endoscope.
Other features of the present invention and advantages thereof will
be fully apparent from the description below.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 to FIG. 16 are concerned with a first embodiment of the
present invention;
FIG. 1 shows the outward configuration of an encapsulated endoscope
system;
FIG. 2 is a block diagram showing the configuration of the
capsulated endoscope system shown in FIG. 1;
FIG. 3 shows the outward form of an encapsulated endoscope included
in the system shown in FIG. 2;
FIG. 4 is an explanatory diagram showing the encapsulated endoscope
shown in FIG. 3;
FIG. 5 is a first flowchart describing processing to be performed
in the encapsulated endoscope system shown in FIG. 2;
FIG. 6 is a second flowchart describing processing to be performed
in the encapsulated endoscope system shown in FIG. 2;
FIG. 7 is a first explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 8 is a second explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 9 is a third explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 10 is a fourth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 11 is a fifth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 12 is a sixth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 13 is a seventh explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 14 is an eighth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 15 is a ninth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 16 is a tenth explanatory diagram illustrating the effect of
the processing described in FIG. 5 and FIG. 6;
FIG. 17 and FIG. 18 are concerned with a second embodiment of the
present invention;
FIG. 17 shows the outward form of an encapsulated endoscope
system;
FIG. 18 is a block diagram showing the configuration of the
encapsulated endoscope system shown in FIG. 17;
FIG. 19 to FIG. 22 are concerned with a third embodiment of the
present invention;
FIG. 19 is a block diagram showing the configuration of an
encapsulated endoscope system;
FIG. 20 shows an example of a movement to be made by an
encapsulated endoscope included in the system shown in FIG. 19;
FIG. 21 describes a flow of jiggling performed in the encapsulated
endoscope system shown in FIG. 19;
FIG. 22 is an explanatory diagram showing the effect of the
processing described in FIG. 21;
FIG. 23 to FIG. 26 are concerned with a fourth embodiment of the
present invention;
FIG. 23 is a block diagram showing the configuration of an
encapsulated endoscope system;
FIG. 24 is a block diagram showing the configuration of an X-axis
magnetic field generating unit included in the system shown in FIG.
23;
FIG. 25 is a first diagram showing the operation of the
encapsulated endoscope system shown in FIG. 23; and
FIG. 26 is a second diagram showing the operation of the
encapsulated endoscope system shown in FIG. 23.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
First Embodiment
(Constituent Features)
As shown in FIG. 1, an encapsulated endoscope system 1 in
accordance with the present embodiment comprises: an encapsulated
endoscope 2 that is inserted into a body cavity, moves by itself
owing to an external rotating magnetic field, and picks up an image
of the interior of a body cavity; a rotating magnetic field
generating unit 3 that generates the external rotating magnetic
field; a magnetic field control unit 4 that controls the rotating
magnetic field generated by the rotating magnetic field generating
unit 3; and an image processing unit 6 that receives a magnetic
field control signal sent from the magnetic field control unit 4,
receives an image from the encapsulated endoscope 2 by radio,
performs image processing, and displays an image on a display
device 5.
As shown in FIG. 2, the rotating magnetic field generating unit 3
comprises: a first electromagnet 11 that generates a magnetic field
in an X-axis direction; a second electromagnet 12 that generates a
magnetic field in a Y-axis direction; a third electromagnet 13 that
generates a magnetic field in a Z-axis direction; and driving
amplifiers 14 to 16 that drive the first to third electromagnets 11
to 13 respectively. The magnetic field control unit 4 is composed
of control signal generators 17 to 19. The control signal
generators 17 to 19 control the driving amplifiers 14 to 16
respectively, transmit a magnetic field control signal, in response
to which the rotating magnetic field generating unit 3 generates a
rotating magnetic field, to the rotating magnetic field generating
unit 3, and transmit data of a magnetic field generated by the
rotating magnetic field generating unit 3 to the image processing
unit 6.
Incorporated in the encapsulated endoscope 2 are: a stationary
magnet 21 that rotates while reacting to a rotating magnetic field;
an illuminating device (for example, an LED) 22 that generates
illumination light with which the interior of a body cavity is
illuminated; an imaging device (for example, a CCD) 23 that images
an intracavitary region illuminated with the illumination light; a
signal processing circuit 24 that samples an image signal produced
by the imaging device and converts it into a digital video signal;
a memory 25 in which the digital video signal sent from the signal
processing circuit 24 is stored; a radio circuit 26 that transmits
the digital video signal stored in the memory 25 to the image
processing unit 6 by radio; a capsule control circuit 27 for
controlling the signal processing circuit 24, memory 25, and radio
circuit 26; and a battery 28 that supplies power to the circuits
incorporated in a capsule.
The image processing unit 6 comprises: a radio circuit 31 that
receives image data sent from the encapsulated endoscope 2 by
radio; a memory 34 in which a digital video signal received by the
radio circuit 31 is stored as image data; an image processing
circuit 32 that performs turning and other desired processing on
the image data stored in the memory 34; and a control circuit 33
that receives data of a magnetic field generated by the rotating
magnetic field generating unit 3 and controls the image processing
circuit 32 and radio circuit 31. In the memory 34, the control
circuit 33 stores the magnetic field data received from the
magnetic field control unit 4 in association with image data.
Moreover, the control circuit 33 transmits an advancement control
signal to the magnetic field control unit 4. The advancement
control signal is produced based on an instruction signal received
from a direction instructing device 35, for example, a keyboard or
a joystick that is used to instruct a direction of advancement in
which the encapsulated endoscope 2 should be advanced.
An operator determines a direction, in which the encapsulated
endoscope 2 should be advanced, by monitoring an endoscopic image
displayed on the display device 5. The operator handles the
direction instructing device 35 in order to transmit an instruction
signal to the control circuit 33. In response to the instruction
signal, the control circuit 33 transmits an advancement control
signal to the magnetic field control unit 4. The advancement
control signal enables generation of a rotating magnetic field that
causes the encapsulated endoscope 2 to change the orientation
thereof or to advance.
A capsule body 2a included in the encapsulated endoscope 2 is, as
shown in FIG. 3, shaped like a capsule which a patient can gulp
easily. The capsule body 2a has a screw 41 threaded helically on
the periphery thereof. The imaging device 23 that images the
interior of a body cavity via an objective optical system 42 is
incorporated in one side of the capsule body 2a. The stationary
magnet 21 is locked in the center part of the capsule body 2a. The
stationary magnet 21 is locked to have a north pole thereof located
in the upper part of the imaging surface of the imaging device 23
and a south pole thereof located in the lower part thereof.
A dipole of the stationary magnet 21 is located perpendicularly to
the axis of rotation of the screw 41. The axis of rotation of the
screw 41 is aligned with the axis of an imaging optical system
ahead of the imaging device 23.
Incidentally, the orientations of the magnetic poles of the
stationary magnet 21 are agreed with the upward and downward
directions of the imaging surface of the imaging device 23. The
present invention is not limited to this mode. The stationary
magnet 21 and imaging device 23 should merely be locked in the
capsule so that the imaging device 23 will rotate along with the
rotation of the stationary magnet 21.
As shown in FIG. 4, when the encapsulated endoscope 2 is put in a
body cavity, even if the axial direction of an observation optical
system is not aligned with the direction of a normal to a rotating
magnetic field, the rotating magnetic field acts on the stationary
magnet 21. This causes the capsule body 2a to make a helical
motion. Eventually, the axial direction of the observation optical
system is aligned with the direction of the normal to the rotating
magnetic field. In short, the rotating magnetic field acts on the
stationary magnet 21 incorporated in the capsule body 2a so that
the rotation of the stationary magnet 21 will be flush with the
rotation of the rotating magnetic field. When the rotation of the
stationary magnet 21 becomes flush with the rotation of the
rotating magnetic field, the screw 41 comes in contact with a humor
or an intracavitary wall due to the rotation of the stationary
magnet 21 caused by the rotating magnetic field. This enables the
encapsulated endoscope 2 to advance or withdraw in the direction of
the normal to the plane of rotation of the rotating magnetic
field.
A user monitors an endoscopic image displayed on the display device
5, and uses the direction instructing device 35 to instruct a
desired direction. Consequently, as mentioned above, the direction
of the normal to the rotating magnetic field can be changed to the
desired direction. Eventually, the axial direction of the imaging
optical system incorporated in the encapsulated endoscope 2 can be
aligned with the desired direction. When the rotating magnetic
field is rotated with the direction of the normal fixed, the
encapsulated endoscope 2 can be advanced or withdrawn along the
axis of the imaging optical system. The user can move the
encapsulated endoscope 2 in any direction using the direction
instructing device 35.
(Operation)
The operation of the present embodiment having the foregoing
components will be described in conjunction with the flowcharts of
FIG. 5 and FIG. 6 and the explanatory diagrams of FIG. 7 to FIG.
16.
When the orientation of the encapsulated endoscope 2 is changed or
the encapsulated endoscope 2 is advanced or withdrawn, the imaging
device 23 rotates together with the stationary magnet 21. An image
picked up by the imaging device 23 also rotates. If the image is
displayed on the display device 5 as it is, the displayed
endoscopic image is a rotating image. The rotation of a display
image must be ceased for fear that advancement or withdrawal in a
desired direction may not be able to be instructed using the
direction instructing device 35. According to the present
embodiment, therefore, a rotating image is corrected to produce a
still image.
First, when the direction instructing device 35 is handled, the
encapsulated endoscope 2 picks up images time-sequentially, and
stores a digital video signal in the memory 25. Under the control
of the control circuit 33 included in the image processing unit 6,
the digital video signal is stored in the memory 34 as image data
via the radio circuits 26 and 31. At this time, the control circuit
33 in the image processing unit 6 stores magnetic field data in
association with the image data to be stored in the memory 34. The
magnetic field data includes the orientation of a rotating magnetic
field and the direction of the normal to the rotating magnetic
field that are detected when the image data is produced.
Consequently, a plurality of image data items, that is, first image
data, second image data, etc., and n-th image data are, as shown in
FIG. 7, successively stored in the memory 34. Moreover, a plurality
of magnetic field data items, that is, first magnetic field data,
second magnetic field data, etc., and n-th magnetic field data that
are associated with the image data items are, as shown in FIG. 8,
successively stored in the memory 34.
As described in FIG. 5, at step S1, the control circuit 33 in the
image processing unit 6 initializes such parameters as a total
angle of rotation of an image .theta. and an image number n to 0
and 1 respectively. At step S2, the control circuit 33 reads the
n-th image data from the memory 34 (in this case, the first image
data). At step S3, the n-th magnetic field data (in this case, the
first magnetic field data) including the orientation of a rotating
magnetic field (x, y, z) and the direction of the normal to the
rotating magnetic field (X, Y, Z) detected at this time is read
from the memory 34.
Thereafter, at step S4, the control circuit 33 adopts n-th image
data' that is first corrected image data and n-th image data'' that
is second corrected image data as image data items identical to the
n-th image data (n-th image data=n-th image data'=n-th image
data'': in FIG. 9, first image data=first image data'=first image
data''). At step S5, the control circuit 33 controls the image
processing circuit 32 to display a display image shown in FIG. 10
on the display device 5 according to the n-th image data''.
Thereafter, at step S6, the control circuit 33 increments the image
number n. At step S7, the n-th image data (in this case, second
image data) is read from the memory 34. At step S8, the n-th
magnetic field data (in this case, second magnetic field data)
including the orientation of a rotating magnetic field (x, y, z)
and the direction of the normal to the rotating magnetic field (X,
Y, Z) detected at this time is read from the memory 34.
Thereafter, at step S9, the control circuit 33 calculates an angle
of rotation .DELTA..theta. by which the n-1-th image has rotated
relative to the n-th image. The details will be presented below in
conjunction with FIG. 11. For example, the orientation of a
rotating magnetic field included in the first magnetic field data
concerning the first image data shall be B1(x1,y1,z1), the
direction of the normal to the rotating magnetic field included
therein shall be R1(X1,Y1,Z1), the orientation of a rotating
magnetic field included in the second magnetic field data
concerning the second image data shall be B2(x2,y2,z2), and the
direction of the normal to the rotating magnetic field shall be
R2(X2,Y2,Z2).
The direction of advancement of the encapsulated endoscope 2 varies
time-sequentially. If an angle at which the orientation B1 meets
the orientation B2 is regarded as an angle of rotation, there is a
possibility that the angle of rotation may not agree with an actual
angle of rotation. Therefore, as shown in FIG. 11, an angle at
which a normal vector N1 to a plane defined by the orientation R1
and direction B1 meets a normal vector N2 to a plane defined by the
orientation R2 and direction B2 is regarded as the angle of
rotation .DELTA..theta..
The angle of rotation .DELTA..theta. is calculated as follows:
N1=(y1Z1-Y1z1, z1X1-Z1x1, x1Y1-X1y1) N2=(y2Z2-Y2z2, z2X2-Z2x2,
x2Y2-X2y2) where N1 and N2 denote unit vectors;
.DELTA..theta..sup.12=cos.sup.-1{(y1Z1-Y1z1)(y2Z2-Y2z2)
With the elapse of time, the angles of rotation
.DELTA..theta..sup.12, .DELTA..theta..sup.23, etc.,
.DELTA..theta..sup.(n-2)(n-1), and .DELTA..theta..sup.(n-1)n are
calculated successively.
A total angle of rotation .theta. is calculated as the sum total of
the angles of rotation and expressed as
.theta.=.SIGMA..DELTA..theta..sup.(k-1)k. At step S10, the control
circuit 33 calculates the total angle of rotation as
.theta.=.theta.+.DELTA..theta.. As shown in FIG. 12, for example,
the second image is an image that has rotated relative to the first
image by the angle of rotation .theta. plus an error in an
illustrated direction. Herein, the error is an error between the
angle of rotation of the encapsulated endoscope 2 and the angle of
rotation of the rotating magnetic field deriving from a load which
an intracavitary wall imposes on the screw 41 threaded on the
rotating encapsulated endoscope 2.
At step S11, the control circuit 33 adopts the n-th image data'
that is the first corrected image data as image data that has
rotated by an angle -.theta. relative to the n-th image data.
Consequently, as shown in FIG. 13, for example, the second image'
that is the first corrected image is produced with no consideration
taken into the error.
Control is then passed to step S12 described in FIG. 6. At step
S12, the control circuit 33 correlates the n-th image data with the
n-1-th image data according to a known procedure, and calculates a
degree of correction (.phi.n) to which an angle of rotation should
be corrected and a coefficient of correlation. At step S13, the
control circuit 33 verifies whether the coefficient of correlation
exceeds a predetermined threshold value. Based on the result of the
verification, it is verified whether the error shown in FIG. 12 is
ignored.
If the coefficient of correlation does not exceed the predetermined
threshold value, at step S14, the control circuit 33 adopts the
n-th image data'', which is the second corrected image data, as the
n-th image data' that is the first corrected image data, and passes
control to step S17. If the coefficient of correlation does not
exceed the predetermined threshold value, it signifies that an
image has changed greatly. In this case, the result of correlation
is not adopted. When step S11 is completed (the n-th image data'
that is the first corrected image data is adopted as image data
that has rotated by an angle -.theta. relative to the n-th image
data), rotational correction of an image is completed.
If the error can be ignored, as shown in FIG. 14, rotational
correction of the second image data is completed by adopting the
second image data' (first corrected image data) at step S11. At
step S14, the second image data' (first corrected image data) is
adopted as the second image data'' (second corrected image
data).
If the coefficient of correlation exceeds the predetermined
threshold value, the control circuit 33 adopts at step S15 the n-th
image data' that is the first corrected image data as image data
that has rotated by an angle -.phi.n relative to the n-th image
data'' that is the second corrected image data. Consequently, as
shown in FIG. 15, the second image'' that is the second corrected
image is thus available. At step S16, the total angle of rotation
.theta. is set to an angle .theta.+.phi.n. Control is then passed
to step S17.
At step S17, the control circuit 33 controls the image processing
circuit 33 so as to display, as shown in FIG. 16, a display image,
which results from rotational correction achieved by adopting the
n-th image data'', on the display device 5. At step S18, the
control circuit 33 verifies whether the n+1-th image data is found
in the memory 34. If the n+1-th image data is found, control is
returned to step S6 described in FIG. 5. If the n+1-th image data
is unfound, processing is terminated.
When an image to be displayed on the image device 5 is an image
having a round contour, the image can be displayed with a user left
unconscious of rotation of the image.
(Advantages)
As mentioned above, according to the present embodiment, image data
representing an image picked up by the encapsulated endoscope 2 can
be stored in the memory 34 while being associated with magnetic
field data detected during the picking up (the orientation of a
rotating magnetic field and the direction of the normal thereto).
By the way, the encapsulated endoscope 2 is rotated using a
rotating magnetic field in order to thus change the orientation of
the encapsulated endoscope 2 or advance or withdraw the
encapsulated endoscope 2. Nevertheless, rotation of an image
deriving from the rotation of the encapsulated endoscope 2 can be
corrected by adopting the first corrected image.
Furthermore, the error between the angle of rotation of the
encapsulated endoscope 2 and the angle of rotation of the rotating
magnetic field deriving from a load an intracavitary wall imposes
on the screw 41 on the rotating encapsulated endoscope 2 can be
corrected by adopting the second corrected image through
correlation of images.
Moreover, an image whose rotation is ceased can be displayed at a
still image on the display device 5. A direction in which the
encapsulated endoscope 2 should be moved can be identified easily
from the image. Once the direction instructing device 35 is
handled, the control circuit 33 receives an instruction signal from
the direction instructing device 35, and transmits an advancement
control signal based on the instruction signal to the magnetic
field control unit 4. Consequently, the axial direction of the
imaging optical system included in the encapsulated endoscope 2 can
be set to a desired direction. Moreover, the encapsulated endoscope
2 can be advanced or withdrawn along the axis of the imaging
optical system. A user uses the direction instructing device 35 to
move the encapsulated endoscope 2 in any direction.
Second Embodiment
A second embodiment of the present invention is nearly identical to
the first embodiment thereof. Only a difference will be described.
The same reference numerals will be assigned to identical
components, and the description of the components will be
omitted.
(Constituent Features and Operation)
As shown in FIG. 17, an encapsulated endoscope system 1a in
accordance with the present embodiment comprises: an encapsulated
endoscope 2 that is inserted into a body cavity and moves by itself
owing to an external rotating magnetic field so as to pick up an
image of the interior of a body cavity; a rotating magnetic field
generating unit 3 that generates the external rotating magnetic
field; a magnetic field control unit 4 that controls the rotating
magnetic field generated by the rotating magnetic field generating
unit 3; and an extracorporeal unit 51 that receives a magnetic
field control signal from the magnetic field control unit 4,
receives image data from the encapsulated endoscope 2 by radio, and
stores the image data in association with magnetic field data in a
memory. The extracorporeal unit 51 can transmit the image data and
magnetic field data stored in the memory to an image processing
unit 52 realized with a personal computer or the like.
Transferring data from the extracorporeal unit 51 to the image
processing unit 52 is achieved by, for example, connecting the
extracorporeal unit 51 directly to the image processing unit 52
after the completion of an examination performed using the
encapsulated endoscope 2. Otherwise, the data transfer may be
achieved via an information recording medium that can be freely
connected or disconnected (for example, a floppy disk drive, a
magneto-optical drive, a CD-R drive, a CD-RW disk drive, a DVD-R
disk drive, or the like). Otherwise, the data transfer may be
achieved over a communication network such as an in-house LAN. The
image processing unit 52 uses, similarly to the one included in the
first embodiment, image data and magnetic field data to cease the
rotation of an image so as to produce a still image and then
displays the image on the display device 5.
As shown in FIG. 18, the extracorporeal unit 51 includes a radio
circuit 31, a memory 34, and a control circuit 33. In the memory
34, the control circuit 33 stores magnetic field data in
association with image data.
The image processing unit 52 includes, similarly to the one
included in the first embodiment, an image processing circuit 53
that uses image data and magnetic field data to cease the rotation
of an image so as to produce a still image, then performs image
processing, and displays the resultant image on the display device
5.
The other components of the second embodiment and the operation
thereof are identical to those of the first embodiment.
(Advantages)
According to the present embodiment, similarly to the first
embodiment, the encapsulated endoscope 2 is rotated using a
rotating magnetic field in order to change the orientation of the
encapsulated endoscope 2 or advance or withdraw the encapsulated
endoscope 2. Nevertheless, the rotation of an image deriving from
the rotation of the encapsulated endoscope 2 can be corrected by
adopting the first corrected image. The error between the angle of
rotation of the encapsulated endoscope 2 and the angle of rotation
of the rotating magnetic field deriving from a load an
intracavitary wall imposes on the screw 41 on the rotating
encapsulated endoscope 2 can be corrected by adopting the second
corrected image through correlation of images.
Furthermore, according to the present embodiment, when an
examination is performed using the encapsulated endoscope 2, image
data is stored in association with magnetic field data in the
memory 34. Rotational correction is performed after the
examination. The examination can therefore be performed
efficiently. Moreover, the image processing unit 52 can be realized
with a general-purpose personal computer. The encapsulated
endoscope system 1a can be configured inexpensively.
Third Embodiment
A third embodiment of the present invention is nearly identical to
the first embodiment thereof. Only a difference will be described.
The same reference numerals will be assigned to identical
components, and the description of the components will be
omitted.
(Constituent Features)
As shown in FIG. 19, an image processing circuit 32a included in an
image processing unit 6 in the present embodiment includes a
direction-of-lumen detector 61 that detects the direction of a
lumen using image data representing an image whose rotation is
ceased. Since the direction-of-lumen detector 61 is included, the
direction of a lumen is detected automatically without the use of
the direction instructing device 35 included in the first
embodiment. The encapsulated endoscope can then be advanced in
order to pick up a view image.
When the direction-of-lumen detector 61 detects a distinct lumen
present within a field of view, it is verified that the
encapsulated endoscope keeps advancing in a rectilinear direction.
If no lumen is detected within the field of view, the direction of
advancement, that is, a direction in which a lumen extends is
determined based on some information.
One of criterion for determining the direction of advancement when
no lumen is detected within the field of view is a brightness
changing direction in an image. For example, a change in brightness
occurs widely from an area in an image depicting a portion of an
encapsulated endoscope near the distal end thereof to an area
therein depicting a portion thereof away from the distal end. In
this case, the direction of advancement is a direction receding
from the distal end of the encapsulated endoscope. Thus, an
inserting direction can be detected by detecting a direction of a
change from a light in an image to a dark therein.
The detailed configuration and operation of the direction-of-lumen
detector 61 are identical to those of an inserting direction
detecting unit described in Japanese Patent Application No.
2001-292230 filed by the present applicant. The description of the
configuration and operation will therefore be omitted.
The other components are identical to those of the first
embodiment.
(Operation)
Similarly to the first embodiment, the rotation of an image is
ceased to produce a still image and the still image is displayed on
the display device 5. Based on the image whose rotation is ceased,
the direction-of-lumen detector 61 detects the direction of
advancement of the encapsulated endoscope 2, and transmits an
instruction signal to the control circuit 33 in the image
processing unit 6. The control circuit 33 controls, similarly to
the one included in the first embodiment, the magnetic field
control unit 4 in response to the instruction signal, and then
moves the encapsulated endoscope 2 in a direction in which a lumen
extends.
As shown in FIG. 20, for example, a lumen like an intestinal lumen
71 may have a small diameter and bend sharply, and the encapsulated
endoscope 2 may not be able to advance because it cannot change its
orientation. In this case, according to the present invention, the
encapsulated endoscope 2 is jiggled as described below.
Specifically, as shown in FIG. 21, the control circuit 33 monitors
an image, of which rotation is ceased, at step S51. At step S52,
the image is correlated with a previous one in order to verify
whether the image has changed. If the image has changed, a normal
rotating magnetic field is generated at step S53 and control is
returned to step S51. If the image has not changed, it is verified
that the encapsulated endoscope 2 has failed to advance. Control is
then passed to step S54.
At step S54, the control circuit 33 controls and jiggles the axis
of the rotating magnetic field as shown in FIG. 22. Specifically,
for example, (1) the axis of the rotating magnetic field is moved
conically, (2) the axis of the rotating magnetic field is simply
swung from side to side, (3) the axis of the rotating magnetic
field is simply vibrated with a short amplitude, or (4) the axis of
the rotating magnetic field is simply shifted by 90.degree.. Thus,
the axis of the rotating magnetic field is jiggled in an attempt to
free the stalled encapsulated endoscope 2.
At step S55, the control circuit 33 correlates the image with a
previous one and verifies whether the image has changed. If the
image has not changed, control is returned to step S54. If the
image has changed, a direction in which the image has changed is
stored in a memory. A normal rotating magnetic field is generated
in the direction, and control is returned to step S51.
(Advantages)
As mentioned above, the present embodiment has the same advantages
as the first embodiment. In addition, the direction of advancement
of the encapsulated endoscope 2 can be verified and controlled. A
user need not instruct a direction of advancement but can
concentrate on observation. Moreover, since the encapsulated
endoscope 2 is jiggled, the capability to pass through a narrow
lumen can be improved greatly.
Fourth Embodiment
A fourth embodiment of the present invention is nearly identical to
the first embodiment thereof. Only a difference will be described
below. The same reference numerals will be assigned to identical
components, and the description of the components will be
omitted.
(Constituent Features)
As shown in FIG. 23, according to the present embodiment, a
rotating magnetic field generating unit comprises: an X-axis
magnetic field generating unit 101 composed of a plurality of pairs
of coils; a Y-axis magnetic field generating unit 102 composed of a
plurality of pairs of coils; and a Z-axis magnetic field generating
unit 103 composed of a plurality of pairs of coils. Moreover, an
encapsulated endoscope system in accordance with the present
embodiment includes a position detecting unit 107 comprises: two
triaxial sense coils 104 and 105 that detect the strength and
orientation of a magnetic field induced around the stationary
magnet 21; and a position detecting circuit 106 that calculates the
three-dimensional position and orientation of the encapsulated
endoscope 2 using detection signals sent from the triaxial
isotropic sense coils 104 and 105 respectively. The position
detecting circuit 106 transmits the three-dimensional position data
and orientation data concerning the encapsulated endoscope 2 to the
control circuit 33 in the image processing unit 6.
Moreover, the image processing unit 6 includes a magnet selecting
circuit 110 that transmits a selection control signal to the X-axis
magnetic field generating unit 101, Y-axis magnetic field
generating unit 102, and Z-axis magnetic field generating unit 103
under the control of the control circuit 33.
The X-axis magnetic field generating unit 101 includes, as shown in
FIG. 24, a first group of coils 111A composed of a plurality of
coils arranged in the form of a matrix, for example, sixteen coils
(1,1)A to (4,4)A, and a second group of coils 111B composed of a
plurality of coils arranged in the form of a matrix, for example,
sixteen coils (1,1)B to (4,4)B. The first group of coils 111A is
opposed to the second group of coils 111B, whereby opposed
electromagnets (Helmholts coils for generating a rotating magnetic
field) are formed.
Moreover, ijA amplifiers (where i denotes an integer ranging from 1
to 4, and j denotes an integer ranging from 1 to 4) are included
for selectively driving the coils (i,j)A belonging to the first
group of coils 111A, and ijB amplifiers (where i denotes an integer
ranging from 1 to 4, and j denotes an integer ranging from 1 to 4)
are included for selectively driving the coils (i,j)B belonging to
the second group of coils 111B. Herein, the coils (i,j)B belonging
to the second group of coils B are driven while being paired with
the coils (i,j)A respectively.
Either of the ijA amplifiers and ijB amplifiers (where i denotes an
integer ranging from 1 to 4, and j denotes an integer ranging from
1 to 4) is selected and controlled by a coil selecting circuit 112.
More specifically, the coil selecting circuit 112 selects the ijA
amplifiers or the ijB amplifiers (where i denotes an integer
ranging from 1 to 4, and j denotes an integer ranging from 1 to 4)
according to a selection control signal sent from the magnet
selecting circuit 110 included in the image processing unit 6 and
magnetic field control signals sent from the driving amplifiers 14
to 16 included in the magnetic field control unit 4.
The Y-axis magnetic field generating unit 102 and Z-axis magnetic
field generating unit 103 have the same components as the X-axis
magnetic field generating unit 101 does. The description of the
components will therefore be omitted. The other components are
identical to those of the first embodiment.
(Operation)
In the position detecting unit 107, the two triaxial sense coils
104 and 105 detect the strength and orientation of a magnetic field
induced around the stationary magnet 21 incorporated in the
encapsulated endoscope 2. The position detecting circuit 106
calculates the three-dimensional position and orientation of the
encapsulated endoscope 2, and transmits the three-dimensional
position data and orientation data to the control circuit 33
included in the image processing unit 6.
The control circuit 33 transmits a selection signal, with which
either the coils (i,j)A or coils (i,j)B (where i denotes an integer
ranging from 1 to 4, and j denotes an integer ranging from 1 to 4)
are selected and driven based on the three-dimensional position
data, to the magnet selecting circuit 110. The magnet selecting
circuit 110 in turn transmits a selection control signal to the
coil selecting circuit 112, whereby either the coils (i,j)A or
coils (i,j)B (where i denotes an integer ranging from 1 to 4, and j
denotes an integer ranging from 1 to 4) are selected.
The coils (i,j)A or coils (i,j)B (where i denotes an integer
ranging from 1 to 4, and j denotes an integer ranging from 1 to 4)
to be driven are, for example, as shown in FIG. 25, selected based
on the position of the encapsulated endoscope 2 so that a rotating
magnetic field which effectively causes the encapsulated endoscope
2 to make a motion will be applied to the encapsulated endoscope
2.
A user handles the direction instructing device 35 while viewing a
still image which is produced by ceasing the rotation of an image
and displayed on the display device 5. The control circuit 33
included in the image processing unit 6 transmits an advancement
control signal to the magnetic field control unit 4. The magnetic
field control unit 4 transmits a magnetic field control signal,
with which the direction of rotation of a rotating magnetic field
(direction of a normal) induced by the driven coils (i,j)A or coils
(i,j)B (where i denotes an integer ranging from 1 to 4, and j
denotes an integer ranging from 1 to 4) is changed, to the coil
selecting circuit 112.
Consequently, the encapsulated endoscope 2 makes a motion and
moves. The position detecting unit 107 detects the
three-dimensional position of the encapsulated endoscope 2 again.
Based on the three-dimensional position data, the control circuit
33 in the image processing unit 6 controls the coil selecting
circuit 112 via the magnet selecting circuit 110. Consequently, the
coils (i,j)A or coils (i,j)B (where i denotes an integer ranging
from 1 to 4, and j denotes an integer ranging from 1 to 4) to be
driven are successively reselected so that a rotating magnetic
field which effectively causes the encapsulated endoscope 2 to make
a motion will be applied to the encapsulated endoscope 2.
To be more specific, for example, when the encapsulated endoscope 2
is located as shown in FIG. 25, if the direction instruction device
35 is handled, a rotating magnetic field induced by the selected
coils rotates. This causes the encapsulated endoscope 2 to move to
a position shown in FIG. 26. Coils to be driven are reselected so
that a rotating magnetic field which acts effectively on the
encapsulated endoscope 2 located at the three-dimensional position
will be applied to the encapsulated endoscope 2.
The operation of the present embodiment is identical to the one of
the first embodiment.
(Advantages)
As mentioned above, the present embodiment provides the same
advantages as the first embodiment does. In addition, a rotating
magnetic field can be applied to part of a human body but not to an
entire human body. A uniform rotating magnetic field can therefore
be applied to the encapsulated endoscope 2. Moreover, the
encapsulated endoscope 2 can be driven with low power consumption.
Besides, since each coil may be small-sized, the magnetic field
generating unit can be designed to be lightweight and low-cost.
A rotational driving means for rotating the encapsulated endoscope
2 or any other encapsulated medical equipment (hereinafter, simply,
a capsule) has been described as a magnetic field induced by an
external magnetic field generating means. The present invention is
not limited to this mode. Alternatively, any other rotational
driving means may be adopted. For example, a dielectric (something
that exhibits polarization, such as, a capacitor) may be
incorporated in the capsule as a means for rotating the capsule. An
electric field may then be externally applied to the capsule so
that the electric field will rotate. Thus, the capsule may be
rotated.
According to the present invention, it is apparent that a wide
range of different embodiments can be formed based on the invention
without a departure from the spirit and scope of the invention. The
present invention is limited to the appended claims but not
restricted to any specific embodiment.
* * * * *